EP3577629A4 - CALIBRATION ITEM FOR A ROBOTIC 3D VISION SYSTEM - Google Patents

CALIBRATION ITEM FOR A ROBOTIC 3D VISION SYSTEM Download PDF

Info

Publication number: EP3577629A4
Authority: EP; European Patent Office
Prior art keywords: robotic; vision system; calibration item; calibration; item
Prior art date: 2017-02-03
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.): Granted

Application number

EP18747394.7A

Other languages

German (de)

French (fr)

Other versions

EP3577629B1 (en

EP3577629A1 (en

Inventor

Jianjun Wang

Remus Boca

Biao Zhang

Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)

ABB Schweiz AG

Original Assignee

ABB Schweiz AG

Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)

2017-02-03

Filing date

2018-02-05

Publication date

2020-12-09

2018-02-05 Application filed by ABB Schweiz AG filed Critical ABB Schweiz AG

2019-12-11 Publication of EP3577629A1 publication Critical patent/EP3577629A1/en

2020-12-09 Publication of EP3577629A4 publication Critical patent/EP3577629A4/en

2022-10-12 Application granted granted Critical

2022-10-12 Publication of EP3577629B1 publication Critical patent/EP3577629B1/en

Status Active legal-status Critical Current

2038-02-05 Anticipated expiration legal-status Critical

Classifications

- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39016—Simultaneous calibration of manipulator and camera

Landscapes

Engineering & Computer Science (AREA)
Robotics (AREA)
Mechanical Engineering (AREA)
Length Measuring Devices By Optical Means (AREA)
Manipulator (AREA)

EP18747394.7A 2017-02-03 2018-02-05 Calibration article for a 3d vision robotic system Active EP3577629B1 (en)

Applications Claiming Priority (2)

Application Number	Priority Date	Filing Date	Title
US15/424,058 US10661442B2 (en)	2017-02-03	2017-02-03	Calibration article for a 3D vision robotic system
PCT/US2018/016898 WO2018145025A1 (en)	2017-02-03	2018-02-05	Calibration article for a 3d vision robotic system

Publications (3)

Publication Number	Publication Date
EP3577629A1 EP3577629A1 (en)	2019-12-11
EP3577629A4 true EP3577629A4 (en)	2020-12-09
EP3577629B1 EP3577629B1 (en)	2022-10-12

Family

ID=63039019

Family Applications (1)

Application Number	Title	Priority Date	Filing Date
EP18747394.7A Active EP3577629B1 (en)	2017-02-03	2018-02-05	Calibration article for a 3d vision robotic system

Country Status (4)

Country	Link
US (1)	US10661442B2 (en)
EP (1)	EP3577629B1 (en)
CN (1)	CN111278608B (en)
WO (1)	WO2018145025A1 (en)

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US11679507B2 (en) *	2017-04-26	2023-06-20	Hewlett-Packard Development Company, L.P.	Robotic structure calibrations
CN111127553B (en) *	2018-10-31	2023-04-28	南京埃斯顿机器人工程有限公司	A multi-camera-based positioning method for photovoltaic cell strings
WO2021012122A1 (en) *	2019-07-19	2021-01-28	西门子（中国）有限公司	Robot hand-eye calibration method and apparatus, computing device, medium and product
CN110906863B (en) *	2019-10-30	2022-01-28	成都绝影智能科技有限公司	Hand-eye calibration system and calibration method for line-structured light sensor
CN110930442B (en) *	2019-11-26	2020-07-31	广东技术师范大学	Method and device for determining positions of key points in robot hand-eye calibration based on calibration block
SE543841C2 (en) *	2019-12-19	2021-08-10	Husqvarna Ab	A calibration device for a floor surfacing system
US12125242B2 (en)	2022-01-06	2024-10-22	Liberty Robotics Inc.	Method and system for registering a 3D sensor with an autonomous manipulator
CN112683568B (en) *	2021-01-21	2025-09-02	南京航空航天大学	A standard block and attitude adjustment method for AC turntable posture adjustment in multi-axis machining
JP7650597B2 (en) *	2021-06-15	2025-03-25	株式会社ディスコ	Measurement tool, operation accuracy measurement system, and operation accuracy measurement method
CN113524147B (en) *	2021-08-02	2022-05-24	北京深度奇点科技有限公司	Industrial robot teaching system and method based on 3D camera

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US20120078418A1 (en) *	2009-06-08	2012-03-29	Jin Hwan Borm	Robot calibration apparatus and method for same
US20140018957A1 (en) *	2012-07-11	2014-01-16	Seiko Epson Corporation	Robot system, robot, robot control device, robot control method, and robot control program

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US7164128B2 (en) *	2003-11-25	2007-01-16	Hitachi High-Technologies Corporation	Method and apparatus for observing a specimen
US20080252248A1 (en)	2005-01-26	2008-10-16	Abb Ab	Device and Method for Calibrating the Center Point of a Tool Mounted on a Robot by Means of a Camera
JP2007187538A (en) *	2006-01-13	2007-07-26	Hitachi High-Technologies Corp	Charged particle beam apparatus and image acquisition method using the same
CA2733774A1 (en)	2008-08-18	2010-02-25	Shalabh Kumar Rastogi	Composite calibration/verification gauge and method of its manufacture
US9393694B2 (en) *	2010-05-14	2016-07-19	Cognex Corporation	System and method for robust calibration between a machine vision system and a robot
EP2608938B1 (en) *	2010-08-27	2014-07-02	ABB Research LTD	Vision-guided alignment system and method
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US9641830B2 (en)	2014-04-08	2017-05-02	Lucasfilm Entertainment Company Ltd.	Automated camera calibration methods and systems
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2017
- 2017-02-03 US US15/424,058 patent/US10661442B2/en active Active
2018
- 2018-02-05 EP EP18747394.7A patent/EP3577629B1/en active Active
- 2018-02-05 WO PCT/US2018/016898 patent/WO2018145025A1/en not_active Ceased
- 2018-02-05 CN CN201880021477.4A patent/CN111278608B/en active Active

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number	Priority date	Publication date	Assignee	Title
US20090096790A1 (en) *	2007-10-11	2009-04-16	Mvtec Software Gmbh	System and method for 3d object recognition
US20120078418A1 (en) *	2009-06-08	2012-03-29	Jin Hwan Borm	Robot calibration apparatus and method for same
US20140018957A1 (en) *	2012-07-11	2014-01-16	Seiko Epson Corporation	Robot system, robot, robot control device, robot control method, and robot control program

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
BESS R: "REGISTERING DEPTH MAPS FROM MULTIPLE VIEWS RECORDED BY COLOR IMAGE SEQUENCES", PATTERN RECOGNITION. IMAGE ANALYSIS, ALLEN PRESS, LAWRENCE, KS, US, vol. 7, no. 3, 1 July 1997 (1997-07-01), pages 291 - 300, XP008026757, ISSN: 1054-6618 *
See also references of WO2018145025A1 *

Also Published As

Publication number	Publication date
EP3577629B1 (en)	2022-10-12
CN111278608B (en)	2023-03-28
EP3577629A1 (en)	2019-12-11
US10661442B2 (en)	2020-05-26
US20180222055A1 (en)	2018-08-09
CN111278608A (en)	2020-06-12
WO2018145025A1 (en)	2018-08-09

Publication	Publication Date	Title
EP3577629A4 (en)	2020-12-09	CALIBRATION ITEM FOR A ROBOTIC 3D VISION SYSTEM
EP3495094C0 (en)	2023-09-20	RESISTANCE BASED JOINT LIMITATION FOR A MASTER ROBOT SYSTEM
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GB201715454D0 (en)	2017-11-08	System for determining a physical metric such as position
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DE112017006397A5 (en)	2019-09-12	System for a vehicle
DE102015119964A8 (en)	2016-07-21	Control system for a vehicle
EP3674163A4 (en)	2020-09-16	ITEM DISPENSING ROBOTS
GB201719823D0 (en)	2018-01-10	A Retroeflectivity measurement system
EP3548230A4 (en)	2020-07-08	SEAL ARRANGEMENT FOR A ROBOT JOINT
GB2576164B (en)	2020-07-29	Multi-axis position sensing system
EP3533034A4 (en)	2020-09-09	ARRANGEMENT FOR MANUFACTURED 3D PARTS
SG11202003077XA (en)	2020-05-28	Offline sales execution system
DE112017004888T8 (en)	2019-09-05	Monitor interior mirror for a vehicle
EP3465330A4 (en)	2020-03-04	HEADUP DISPLAY FOR A VEHICLE
GB2561301B (en)	2020-02-19	Calibrating a display for a vehicle
IL261451B (en)	2022-03-01	A layered metrology system on every surface
GB201810511D0 (en)	2018-08-15	Display For A Vehicle
EP3515762A4 (en)	2020-07-08	DISPLAY UNIT FOR A VEHICLE
ZA201905158B (en)	2023-04-26	A robot
GB2573947B (en)	2021-11-03	Automated shelf sensing system
EP3620277A4 (en)	2020-07-01	ROBOT SYSTEM
GB2551323B (en)	2021-02-10	System providing a shared environment

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